The Beija-Flor was formed on December 25, 1948 by a carnivalesque blocos of Nilópolis. The name was inspired by the ranch Beija-Flor that existed in the city of Marquês de Valença. The idea emerged from a group formed by Milton de Oliveira (Negão da Cuíca), Edson Vieira Rodrigues (Edinho do Ferro Velho), Helles Ferreira da Silva, Mário Silva, Walter da Silva, Hamilton Floriano, and José Fernandes da Silva. But it was the mother of Negão da Cuíca, Dona Eulália, that suggested the name of the school. Because of that, she became admitted as the founder of the school. Only in 1953, the bloco, that became victorious in the neighborhood, was renamed G.R.E.S. Beija-Flor de Nilópolis. The school then first paraded officially in 1954 for the Second Group, when it obtained first place.
The history of the school, that has as a symbol the hummingbird (which in Portuguese is called Beija-flor), could be divided into two historical parts: after and before Joãosinho Trinta. Joãosinho Trinta took on the school in 1976 with the samba-enredo (plot) in honor to the jogo do bicho (illegal type of gambling in Brazil). The parades signed by him became so anthological that even when he did not win he left a mark in the avenue. That is what happened in 1989 when the school, known by its luxurious rows and floats, surprised the public with the plot Ratos e urubus, larguem a minha fantasia ("Rats and vultures, release my costume") bringing to the Sambódromo cars and rows full of trash, beside the famous covered Cristo Redentor. It was on that year that Beija-Flor became vice-champion, but Joãosinho was considered by some people the righteous champion of the parade..
During the 1990s, the school was always placed in the first places, being that in the period of 2003/05 it conquered its second trichampionship. In 2007 it won again, this time with a considerable difference of points from the second placed. Months after the Carnaval, the Brazilian Federal Police, during the Hurricane Operation, imprisoned, among others, the patron of the school, Anísio Abraão David, and also a large amount of money that, according to the official was responsible for the operation, would be used to buy judges for the parades and like that guarantee the victory of Beija-Flor. Later, a CPI (Parlamental Commission of Inquiry) was installed in the City Council of city of Rio de Janeiro. It did not prove that the alleged kits were for only the voting maps and the police officer that affirmed such fraud refused to attend to testify in CPI.
For 2008, the Commission of Carnaval chose the plot "Macabapá: Equinócio Solar, viagem fantástica ao meio do mundo" and conquered its 11th title.
In total, Beija-Flor won 13 of the parades of the Carnaval of Rio de Janeiro, in the years of: 1976, 1977, 1978, 1980, 1983, 1998, 2003, 2004, 2005, 2007, 2008, 2011 and 2015. It was vice-champion other 10 times, in the years of: 1979, 1981, 1985, 1986, 1989, 1990, 1999, 2000, 2001, and 2002. With the departure of Joãosinho Trinta, after the Carnaval of 1992, the school tried Maria Augusta and the young Milton Cunha as carnival producers. But only with the creation of the Commission of Carnaval in 1998, the school returned to win championships. Nowadays, the Commission of Carnaval of Beija-flor is composed by: Laíla, Alexandre Louzada, Fran Sérgio, and Ubiratan Silva.